This paper suggests a novel model-based nonlinear DC motor speed regulator without the use of a current sensor. The current dynamics, machine parameters and mismatched load variations are considered. The proposed controller is designed to include an active damping term that regulates the motor speed in accordance with the first-order low-pass filter dynamics through the pole-zero cancellation. Meanwhile, the angular acceleration and its reference are obtained from simple first-order estimators using only the speed information. The effectiveness is experimentally verified using hardware comprising the QUBE-Servo2, myRIO-1900, and LabVIEW.

中文翻译：

---

通过主动阻尼注入和角加速度估算技术的直流电动机调速器

本文提出了一种不使用电流传感器的新型基于模型的非线性直流电动机速度调节器。考虑当前动态，机器参数和不匹配的负载变化。提出的控制器设计为包括一个主动阻尼项，该项通过零极点消除根据一阶低通滤波器动力学来调节电动机速度。同时，仅使用速度信息从简单的一阶估计器获得角加速度及其参考。使用包括QUBE-Servo2，myRIO-1900和LabVIEW的硬件，通过实验对有效性进行了验证。